Intra-Operative 3-D Modeling of Side Branch Vessels for IVUS-Guided Catheter Navigation

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Beatriz Farola Barata;Wim-Alexander Beckers;Gianni Borghesan;Diego Dall'Alba;Johan Bennett;Keir McCutcheon;Paolo Fiorini;Jos Vander Sloten;Emmanuel Vander Poorten
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引用次数: 0

Abstract

Despite continuous advances in three-dimensional (3D) fusion imaging, two-dimensional (2D) X-ray-based fluoroscopy is still the gold standard intra-operative image guidance tool in endovascular interventions. The adoption of robotic technology offers the potential to bring intra-operative radiation exposure down to a minimum, or even eliminate it. Non-ionizing approaches, such as Intravascular Ultrasound (IVUS), are progressively explored as standalone or fluoroscopy-adjunct techniques for 3D vasculature reconstruction. We have previously demonstrated the feasibility of real-time 3D Main Vessel (MV) modeling from the fusion of IVUS and EM pose data obtained from sensors embedded at the tip of a robotic catheter. This paper proposes to advance MV modeling towards a comprehensive radiation-free 3D guidance framework by means of intra-operative Side Branch (SB) detection and modeling. Two models are proposed to approximate the geometry of SB vessel ostia: a sphere and a cylinder. An Unscented Kalman Filter (UKF) recursively estimates the state of these models considering the MV model, while the catheters navigates through the vessel. In silico and in vitro validation results show the potential clinical value of the proposed strategy for facilitating safer robotic catheter steering.
ivus引导下导管导航术中侧支血管的三维建模
尽管三维(3D)融合成像技术不断进步,但二维(2D) x线透视仍然是血管内介入术中图像引导工具的金标准。机器人技术的采用提供了将术中辐射暴露降至最低甚至消除辐射的潜力。非电离方法,如血管内超声(IVUS),逐渐被探索作为独立或透视辅助技术进行三维血管重建。我们之前已经证明了实时3D主血管(MV)建模的可行性,该建模来自嵌入在机器人导管尖端的传感器获得的IVUS和EM姿态数据的融合。本文提出通过术中侧支(SB)的检测和建模,将MV建模向综合无辐射三维引导框架推进。提出了两种近似SB容器孔几何形状的模型:球体模型和圆柱体模型。当导管在血管中导航时,Unscented卡尔曼滤波器(UKF)递归地估计这些模型的状态,考虑MV模型。在计算机和体外验证的结果表明,该策略的潜在临床价值,促进更安全的机器人导管转向。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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CiteScore
6.80
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0.00%
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